CN107921624A - Industry tele-manipulator system - Google Patents

Industry tele-manipulator system Download PDF

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Publication number
CN107921624A
CN107921624A CN201680049058.2A CN201680049058A CN107921624A CN 107921624 A CN107921624 A CN 107921624A CN 201680049058 A CN201680049058 A CN 201680049058A CN 107921624 A CN107921624 A CN 107921624A
Authority
CN
China
Prior art keywords
effractor
slave arm
action
master
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201680049058.2A
Other languages
Chinese (zh)
Other versions
CN107921624B (en
Inventor
桥本康彦
扫部雅幸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Co Ltd
Original Assignee
Kawasaki Heavy Industries Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2015165479 priority Critical
Priority to JP2015-165479 priority
Application filed by Kawasaki Heavy Industries Co Ltd filed Critical Kawasaki Heavy Industries Co Ltd
Priority to PCT/JP2016/002576 priority patent/WO2017033352A1/en
Publication of CN107921624A publication Critical patent/CN107921624A/en
Application granted granted Critical
Publication of CN107921624B publication Critical patent/CN107921624B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/32Surgical robots operating autonomously
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/35Surgical robots for telesurgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/12Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
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    • B25J18/00Arms
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    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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    • B25J19/028Piezoresistive or piezoelectric sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
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    • B25J3/04Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
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Abstract

Tele-manipulator system, it possesses:Master device;Slave arm, has multiple control models comprising automatic mode and manual mode;Control device, acts slave arm;Effractor's detection device, detects the effractor of the operating space to slave arm;Effractor's identification information acquisition device, obtain identification effractor whether be carry master device operator effractor's identification information;With action restraining device, based on the information from effractor's detection device and the acquirement of effractor's identification information acquisition device, suppress the action of slave arm.Act restraining device, in automatic mode if it is detected that effractor then suppresses the action of slave arm, when slave arm is manual mode if it is detected that effractor, continues the action of slave arm if effractor is operator, if the action for suppressing slave arm beyond it.

Description

Industry tele-manipulator system
Technical field
The present invention relates to the industry for possessing master device and slave arm tele-manipulator system.
Background technology
Conventionally, there is known possess master device and according to master device operational motion slave arm tele-manipulator system System.As master device, there is the situation using manipulator, operation lever, operating knob etc..In this tele-manipulator system, have So that the posture of slave arm is formed according to the form of the posture of the manipulator as master device.There is this disclosed in patent document 1 Kind technology.
There are a kind of medical master-slave manipulators disclosed in patent document 1, it, which possesses, carries arm operation portion as main dress Put.The carrying arm operation portion, possesses and is accompanied with operator and is hung on the operation console of belt of shoulder, the display arranged on operation console Device and multiple small-sized principal arms arranged on operation console.It is equipped with the tip end portion of these main operation arms and holds pliers, the holding pliers It is corresponding with the holding pliers of the tip end portion arranged on the handling implement operated by the principal arm.
Prior art literature:
Patent document:
Patent document 1:Japanese Unexamined Patent Publication 7-194609 publications.
The content of the invention
Problems to be solved by the invention:
Medical manipulator described in above patent document 1, by manipulator and is installed in the pliers action of its hand taper, with production Industry is compared with robot, and responsiveness is low and actuating range is also narrow.So in medical manipulator, if operation master device Operator approached with manipulator, the security of operator will not be damaged.However, in industrial robot, if the mankind are not small The operating space of heart intrusion robot then has the possibility that the mankind collide with robot.Therefore, if industrial robot fortune The mankind invade the operating space of the robot in turning(Such as in security fence), then robot can emergent stopping.
Though in this way, industry is with tele-manipulator system, it is also possible to occurs preferably by operator close to slave arm And confirm acting and operating the situation of master device for the slave arm.Therefore, propose a kind of industry with long-range behaviour in the present invention The technology of master device can be operated in the operating space of slave arm by making operator in robot system.
The means solved the problems, such as:
The tele-manipulator system of a form according to the present invention, possesses:
Master device, it receives the operation of operator;
Slave arm, has multiple control models, and the multiple control model is included and acted based on the working procedure prestored Automatic mode and the operator received based on the master device operation and the manual mode that acts;
Control device, with from the multiple control model a selected pattern act the slave arm;
Effractor's detection device, detects the effractor of the operating space to the slave arm;
Effractor's identification information acquisition device, it, which is obtained, identifies whether the effractor is the operation for carrying the master device Effractor's identification information of person;With
Act restraining device, its based on from effractor's detection device and effractor's identification information acquisition device acquirement Information, suppresses the action of the slave arm;
The action restraining device, when the slave arm is the automatic mode if it is detected that effractor then suppresses described driven The action of arm, when the slave arm is the manual mode if it is detected that effractor, if the effractor is the operation Person then continues the action of the slave arm, suppresses the dynamic of the slave arm if the effractor is beyond the operator Make.
According to above-mentioned tele-manipulator system, even if the operator for carrying master device invades the active region of slave arm Domain, slave arm also continue to act.Therefore, operator can operate master device in the operating space of slave arm.Typically, carry The operator of master device, due to monitoring the movement of slave arm and operating master device, can predict the movement of slave arm, also, Master device can be operated and avoid slave arm and the collision of itself.
Also, in above-mentioned tele-manipulator system, when slave arm acts in automatic mode, no matter moving to slave arm Whom the effractor for making region is, all suppresses the action of slave arm.Accordingly, it is capable to prevent slave arm and the effractor to the operating space Collision.
Invention effect:
Industry tele-manipulator system according to the present invention, operator can operate main dress in the operating space of slave arm Put.
Brief description of the drawings
Fig. 1 is the top view of the schematic configuration for the tele-manipulator system for showing an embodiment according to the present invention;
Fig. 2 is the block diagram of the composition for the control system for showing tele-manipulator system;
Fig. 3 is the block diagram of the composition for the control system for showing slave arm;
Fig. 4 is the control system of the tele-manipulator system for the effractor's identification information acquisition device for showing to possess variation Composition block diagram.
Embodiment
Hereinafter, referring to the drawings, illustrated for the embodiment of the present invention.
(Tele-manipulator system 100)
Fig. 1 is the top view of the schematic configuration for the tele-manipulator system 100 for showing an embodiment according to the present invention, figure 2 be the block diagram of the composition for the control system for showing tele-manipulator system 100.As shown in Figures 1 and 2, remote operation machine Device people system 100 is the robot system of master-slave mode, it possess slave arm 1, master device 20, input unit 7, output device 4, Situation acquisition device 5, effractor's detection device 93, effractor's identification information acquisition device 94, action restraining device 95, comprehensive control The control unit 6 of system 100 processed.
The slave arm 1 of this embodiment has automatic mode, manual mode and three control moulds for correcting automatic mode Formula.The control of slave arm 1 can be switched in the form of the scheme control action selected in by these multiple control models Pattern.
In the present specification, control model slave arm 1 acted according to working procedure set in advance is known as " automatic Pattern ".In automatic mode, reproduced with conventional teaching(teaching playback)Robot similarly, not by operation Person operates master device 20, the operation as defined in progress automatically of slave arm 1.
Also, in the present specification, the control mould that the operation for the operator that slave arm 1 is received based on master device 20 is acted Formula is known as " manual mode ".Master device 20, directly moves master device 20 by operator and can receive the operation being transfused to.This Outside, in manual mode, the operation for the operator that master device 20 is received or the movement of the slave arm 1 acted based on this operation It can also be automatically corrected.
Also, in the present specification, the operation for the operator that slave arm 1 is received by master device 20 is gradually corrected simultaneously And the control model acted according to working procedure set in advance is known as " amendment automatic mode ".In automatic mode is corrected, The movement of the slave arm 1 acted according to working procedure set in advance, the operation of the operator received based on master device 20 And it is corrected.
Hereinafter, each inscape of tele-manipulator system 100 is described in detail.
(Slave arm 1)
As shown in Fig. 2, slave arm 1 is multi-joint mechanical arm, by connector and its base station of support of multiple connecting rod 11a~11f 15 are formed, and have multiple joint JT1~JT6.More specifically, in the first joint JT1, the cardinal extremity of base station 15 and first connecting rod 11a Portion connects to the axis rotation that can be wound on vertical extension.In second joint JT2, the tip end portion of first connecting rod 11a connects with second The base end part of bar 11b connects to can be around the axis rotation extended in the horizontal direction.In 3rd joint JT3, the top end of second connecting rod 11b The base end part of portion and third connecting rod 11c, which connect to, to be rotated around the axis extended in the horizontal direction.In 4th joint JT4, the 3rd connects The axis that the tip end portion of bar 11c connects to the length direction extension that can be wound on fourth link 11d with the base end part of fourth link 11d revolves Turn.In 5th joint JT5, the base end part of the tip end portion of fourth link 11d and the 5th connecting rod 11e connect to can around with fourth link The orthogonal axis rotation of 11d length directions.In 6th joint JT6, the tip end portion of the 5th connecting rod 11e and the cardinal extremity of six-bar linkage 11f Portion, which connects to, can reverse rotation.Moreover, the tip end portion in six-bar linkage 11f is equipped with mechanical interface.In the mechanical interface energy End effector 12 corresponding with job content is installed to handling(With reference to Fig. 1).
Fig. 3 is the block diagram of the composition for the control system for showing slave arm 1.In the figure, show using motor control part 16 as The specific electric composition at center.As shown in figure 3, in each joint JT1~JT6 of slave arm 1, equipped with as being linked it Two components relatively an example of rotating actuator drive motor M1~M6.Drive motor M1~M6 is, for example, by horse Up to 16 servo-controlled servo motor of control unit.Also, in each drive motor M1~M6, equipped with the position for detecting its rotation position Put sensor E1~E6 and current sensor C1~C6 of its rotating electric current is controlled for detecting.Position sensor E1~E6 Encoder, decomposer, impulse generator etc. can detect rotation position in this way.In addition, above-mentioned drive motor M1~ In the record of M6, position sensor E1~E6 and current sensor C1~C6, with each joint JT1~JT6 accordingly in letter It addition of the 1~6 of addition word.Hereinafter, omit addition word in the case of any joint in representing joint JT1~JT6 and claim For " JT ", and on drive motor M, position sensor E and current sensor C similarly.
Drive motor M, position sensor E and current sensor C are electrically connected with motor control part 16.This embodiment Motor control part 16, though be able to can also be equipped with corresponding with each drive motor M with the multiple drive motor M of a SERVO CONTROL Motor control part 16.
From power supply 32 by power supply road 34 to 16 supply electric power of motor control part.Switching is equipped with power supply road 34 The connector 33 blocked from power supply 32 to the power supply of motor control part 16 and supply.Connector 33 receives to come from control unit 6 washout and become opening, block the power supply from power supply 32 to motor control part 16.
Motor control part 16, based on from control unit 6 described later(More specifically for driven control unit 61)The position of acquirement Command value or servo gain etc. generate drive command value(Current instruction value), will the past drive of driving current corresponding with drive command value Dynamic motor M supplies.The output anglec of rotation of drive motor M is detected by position sensor E, and is fed back to motor control part 16.In addition, Motor control part 16 and the function of driven control unit 61 can also be realized by single circuit or single arithmetic unit.
If from control unit 6(More specifically for driven control unit 61)To 16 input position command value of motor control part, then The position command value being transfused to is assigned to the input for subtracting the positive side for calculating device 31b.Represent the rotation detected with position sensor E The signal at angle(Position is worth now)Assign to this and subtract the input for the negative side for calculating device 31b.Subtract and calculate in device 31b, subtract from position command value Go the anglec of rotation.Subtract and calculate the output of device 31b and be imparted to coefficient device 31c, here with position gain Kp amplification after, be imparted to and subtract Calculation device 31e+input.The anglec of rotation from position sensor E is imparted to this and subtracts calculation device 31b by differentiator 31d differential - input.Subtract and calculate the output of device 31b and be imparted to coefficient device 31f, here with speed gain Kv amplification after, be imparted to and subtract Calculation device 31g+input.Current value from current sensor C, be imparted to this subtract calculate device 31g-input.Subtract and calculate device 31g Subtract calculation output as drive command value and toward increasing circuitry 31h input, driving electricity corresponding with the drive command value after amplification Flow to drive motor M supplies.
(Master device 20)
Master device 20 is to receive the unit of the operation of operator.In the tele-manipulator system 100 of this embodiment, use The operation panel 2 of handlability is used as master device 20.In operation panel 2, equipped with the relevant operation in position or posture for receiving slave arm 1 Control stick(joy stick)27.In this embodiment, the behaviour as the relevant operation in position or posture for receiving slave arm 1 Though making instrument using control stick 27, control stick 27 or further is also may replace, using such as manipulator, contact panel, is pressed Operation instrument known to key, bar, button, switch, dial etc..
In aforesaid operations disk 2, as a part for input unit 7, make the finger of 1 emergent stopping of slave arm equipped with pressure is received The emergent stopping button 28 of order and receive slave arm 1 control model handover operation control mode switch switch 29.Operating Disk 2 is equipped with input unit 7 other than the above.
Also, in operation panel 2, as a part for output device 4, display equipment 41 and loudspeaker are equipped with(Diagram saves Slightly).
Master device 20 is with control unit 6 to be wirelessly communicatively coupled.Master device 20 receives to be carried out by operator various The operation of operation instrument, and the operation received is inputted to control unit 6.
(Input unit 7)
Input unit 7 is to be arranged at together with master device 20 outside working space, receive the operation instruction from operator, and by institute The operation instruction of receiving is inputted to the input unit of control unit 6.In input unit 7, position or posture of the input with slave arm 1 Operation beyond relevant operation.Control mode switch switch 29 is included in input unit 7 or the grade input of emergent stopping button 28 removes The more than one operation input instrument of operational order beyond the position of slave arm 1 or posture.More than one operation is defeated Enter instrument, the operation input instrument such as known to contact panel, button, bar, button, switch, dial can also be included. Also, remote controler can also be used(pendant)Or the portable such as tablet terminal is as input unit 7.
(Situation acquisition device 5)
Situation acquisition device 5, is the unit for the condition information for obtaining the situation in the working space for showing slave arm 1.Situation is believed Breath, the position of the slave arm 1 in working space and posture etc. or is utilized to recognize 1 peripheral situation of slave arm Information.More specifically, condition information, position and posture, slave arm 1 comprising the slave arm 1 for example in working space with The position relationship of assembled part of the position relationship or slave arm 1 of workpiece with supplying assembling parts etc. is in working space In order to recognize information necessary to 1 peripheral situation of the situation of slave arm 1 and slave arm.
Situation acquisition device 5, can be by such as sensor, camera device 5(With reference to Fig. 1), communicator, encoder etc. and Realize.As sensor, such as can illustrate for measuring to workpiece(Parts)Or distance or the position of assembled part Laser sensor or radar sensor etc..And then can also illustrate using from multiple cameras obtain image data measurement from Slave arm 1 is to the sensor of the distance of surrounding object that is, stereoscopic camera etc..As communicator, it can enumerate and for example obtain Communicator of information from sensor and camera etc., the sensor and camera are arranged at parts or assembled Assigned position in part or working space.As encoder, amount of movement or the position that can for example detect slave arm 1 can be illustrated Encoder.
Situation acquisition device 5 gradually obtains condition information, and acquired condition information is input to control unit described later 6, the action control of slave arm 1 is used in control unit 6.And then control unit 6 can also be control into making condition information exist The composition exported in output device 4.Situation acquisition device 5 is also mountable to slave arm 1, is also mountable to suitable in working space Work as position.Also, the number of the situation acquisition device 5 of installation is alternatively one, or it is multiple.Situation letter can suitably obtained The situation acquisition device 5 of appropriate number is installed in the position of breath, and installation site and installation number are any.
(Output device 4)
Output device 4 exports the information sent from control unit 6.Output device 4 is arranged at the operator from operation master device 20 It is easy to the position depending on recognizing.Display equipment 41 is included at least in output device 4, and then printer or loudspeaker or alarm can be included Lamp etc..In display equipment 41, information that display output is sent from control unit 6.For example, will be from control unit in loudspeaker 6 information sent are exported as sound.Also, for example, the print information sent from control unit 6 is exported to paper in printer Etc. record media.
(Storage device 8)
The various working procedures of the control for slave arm 1 are stored with storage device 8.Working procedure, can be made for each work The motion flow of industry.Working procedure for example can be by teaching(teaching)And it is made, identification information and work with slave arm 1 Correspondence establishment and be stored in storage device 8.In addition, though storage device 8 is independently recorded but it is also possible to be control with control unit 6 The storage device that unit 6 possesses undertakes the function as storage device 8.
Also, pre-made action sequence information is stored with storage device 8.So-called action sequence information, is and regulation A series of relevant information of action sequence for the job steps implemented in working space by slave arm 1.The action sequence is believed In breath, the sequence of movement of job step and the control model correspondence establishment of slave arm 1.Also, in the action sequence information, for each Job step, the working procedure for making 1 automated execution its operation of slave arm correspond to.But action sequence information can also include It is used for the program for making 1 automated execution its operation of slave arm for each job step.
(Control unit 6)
As shown in Fig. 2, in control unit 6, with it is wired or wireless can communicatedly connect slave arm 1, master device 20, output device 4, Situation acquisition device 5, input unit 7, storage device 8 and action restraining device 95.
Control unit 6 is so-called computer, has the storage parts such as arithmetic processing section and ROM, RAM such as CPU(It is not shown). Control program of the execution of control unit 6 or various fixed datas etc. are stored with storage part.Arithmetic processing section is for example filled with input Put the external device (ED)s such as 7, output device 4, storage device 8 and carry out transmitting and receiving for data.Also, arithmetic processing section, carries out from various The input of the detection signal of sensor is exported to the control signal of each control object.In control unit 6, by arithmetic processing section The softwares such as the program for being stored in storage part are read and perform, to carry out the processing of the various actions for control system 100.Separately Outside, control unit 6 can perform each processing by the centralized Control of single computer, can also be moved by the collaboration of multiple stage computers The decentralised control of work performs each processing.Also, control unit 6, also can be by microcontroller, programmable logic controller (PLC)(PLC)Deng structure Into.
Control unit 6, possesses the host computer control portion 60 as functional block, driven control unit 61, receiving division 63, output control Portion 64, correction portion 65.In Fig. 2, although these functional block centralized displayings in a control unit 6, also can be by independent one Computer more than platform realizes the combination of each functional block or multiple functional blocks.At this time it is also possible to it is one in the block of these functions Distribution is placed in working space, and remainder is configured at the operation external space.
Driven control unit 61 controls the action of slave arm 1.For driven control unit 61 in automatic mode, reading is stored in storage The working procedure of device 8 simultaneously generates position command value according to the working procedure, by position command value or servo gain etc. to driven The motor control part 16 of arm 1 assigns.Also, driven control unit 61 is received, with receiving division in manual mode based on master device 20 The 63 operation information generation position command values received, the motor control part by position command value or servo gain etc. to slave arm 1 16 assign.Also, driven control unit 61 when correcting automatic mode, reads the working procedure for being stored in storage device 8 and is based on being somebody's turn to do Working procedure and the revision directive value obtained from correction portion 65 generate position command value(Or revised position command value), by position Command value or servo gain etc. is put to assign to motor control part 16(With reference to Fig. 3).If in addition, when correcting automatic mode from amendment Portion 65 is not endowed revision directive value, then the computing as zero of revision directive value.
Receiving division 63, receives the exterior input signal sent from control unit 6.The input letter received as receiving division 63 Number, the signal for example sent from master device 20 i.e. operation panel 2, the signal sent from input unit 7 can be enumerated, obtain dress from situation Put condition information of 5 transmissions etc..
Output control part 64, controls output device 4 and exports the information for notifying operator to output device 4.It is for example, defeated Go out device 4 in the selected section in starting action sequence, by the information for identifying the slave arm 1 for becoming object and urge slave arm The information of the selection input of 1 control model exports display equipment 41.Also, such as control of the output device 4 in slave arm 1 When pattern is manual mode and corrects automatic mode, by the condition information or running-active status of the slave arm 1 operated by master device 20 Display equipment 41 is exported.Also, such as output device 4 when bad situation occurs for system 100, fills loudspeaker or display Put 41 output alarms.
Correction portion 65, when the control model of slave arm 1 is corrects automatic mode, the operation that is received based on master device 20 Correct the movement of slave arm 1.For example, in operator's mobile operating bar 27 and when position and the postural change of control stick 27, main dress Put 20 using the displacement of the position and posture as instruction is corrected to receive, and inputted to control unit 6.In the control of slave arm 1 When pattern is corrects automatic mode, if receiving division 63, which receives, corrects indication signal, correction portion 65 is based on correcting indication signal life Into revision directive value.The expression formula or figure of revision directive value are obtained from amendment indication signal(map)Stored in advance.It is such to repair Positive order value, such as can also be the value proportional to the position of control stick 27 and the variable quantity of posture.The amendment generated refers to Order, which is worth to driven control unit 61, passes on, and is exported from driven control unit 61 by revised position command value to motor control part 16 (With reference to Fig. 3).
Host computer control portion 60, reads the action sequence information for being stored in storage device 8, and so that slave arm 1, master device 20th, output device 4 and situation acquisition device 5 to driven control unit 61, are led according to the form of the action sequence information action Control unit 62, output control part 64,65 output order of correction portion.
(The action of tele-manipulator system 100)
Then, the action an example of the tele-manipulator system 100 of above-mentioned composition is illustrated.Here, it is suitable for remote operation 100 structure of robot system is loaded on automobile assembly line and makes slave arm 1 into the example be about to sheet material and be installed on the operation of car body, And illustrate the motion flow of system 100.But tele-manipulator system 100 of the invention is not limited to above-mentioned automobile group Wiring, also can widely be applicable in various manufacturing equipments.
The action sequence information of the sheet material installation exercise to car body of storage device 8 is stored in, by being taken out from container The part of sheet material takes out work T1, transports sheet material to the part conveyance work T2 near the installation site of car body and by position Sheet material near installation site is formed to the part installment work T3 that installation site is installed, these works are performed according to the reiteration Make T1~T3.Part in the action sequence takes out work T1 and part conveyance work T2, is that slave arm 1 acts in automatic mode " automatic part ".Automatic part in action sequence, automatic mode correspondence establishment as control model.Also, action sequence Part installment work T3 in row, is control of the slave arm 1 to be selected from automatic mode, manual mode and amendment automatic mode Molding formula and act " selected section ".The specific control model of the non-correspondence establishment of selected section in action sequence, can select Select control model.
First, control unit 6 reads the defined action sequence information for being stored in storage device 8, according to the action sequence Information starts the control of system 100.
First, control unit 6 reads working procedure and the execution of part taking-up work T1 from storage device 8.Secondly, control Unit 6 reads the working procedure of part conveyance work T2 and execution.Work T1 and part conveyance work T2, control are taken out in part Unit 6 controls the action of slave arm 1 in automatic mode.
If part conveyance work T2 terminates, control unit 6 is used in urges ensuing part erector to operator The selection picture for making the selection of the control model of T3 is shown in display equipment 41.Also, control unit 6 makes to be chosen to control The condition information of the slave arm 1 of molding formula is exported to display equipment 41.Here, display output is in the situation of display equipment 41 In information, can also include shown slave arm 1 identification information or followed by the content of program etc..
Operator, the condition information of the slave arm 1 of display equipment 41 is shown in depending on recognizing, and is selected in three control models One.The selection of the control model of operator, is received from master device 20 or input unit 7 and is inputted to control unit 6.
In above-mentioned, if automatic mode is chosen, control unit 6 reads the work of part installment work T3 from storage device 8 Make program, and control the action of slave arm 1 in automatic mode.Also, if manual mode is chosen, control unit 6 is with manual mould Formula controls the action of slave arm 1.If alternatively, correct automatic mode be chosen, control unit 6 with correct automatic mode control from The action of swing arm 1.
Also, in above-mentioned, if manual mode and the either mode corrected in automatic mode are chosen, control unit 6 is whole Make the condition information display output of slave arm 1 in a program in display equipment 41.It is as described above, control unit 6 according to Action sequence sequentially carries out job step.
(Effractor's detection device 93)
Effractor's detection device 93 is the dress for including the effractor including operator of the operating space of detection intrusion slave arm 1 Put.In this embodiment, effractor's detection device 93 is made of light curtain 93A.But effractor's detection device 93 is not limited to light Curtain 93A, such as multiple camera devices 51 that also can be by the operating space of shooting slave arm 1 and the institute of parsing camera device 51 The image of shooting and the video recording analysis device for detecting effractor(Diagram is omitted)Form.
As shown in Figure 1, the operating space of slave arm 1 is surrounded by security fence 90.Security fence 90 is by encirclement slave arm 1 Residue one around the fence 91 of tripartite around operating space in four directions and the operating space of encirclement slave arm 1 in four directions The light curtain 93A of side is formed.But four directions is formed by light curtain around the operating space of security fence 90 or slave arm 1. Effractor can cross light curtain 93A and be invaded to the operating space of slave arm 1.
Light curtain 93A includes illuminating part 931 and light accepting part 932.Received from the light that illuminating part 931 is sent by light accepting part 932.By Light portion 932 does not receive light, i.e. light by the object masks by light curtain 93A, and detects passing through for object.Light curtain 93A is with moving Making restraining device 95 can be communicatedly with wired or wireless connection.Light curtain 93A if it is detected that object by the way that then effractor is detected Signal is exported to action restraining device 95.
In addition, in this embodiment, though the scope surrounded by security fence 90 is defined as to the operating space of slave arm 1, But the operating space of slave arm 1 is alternatively smaller region.For example, also can be by the movable area of slave arm 1 or operation area The region that domain adds the region that end effector 12 and workpiece can reach is provided as the operating space of slave arm 1.Also, The restricted area of slave arm 1 or operation range can be provided as the operating space of slave arm 1.As described above, in slave arm 1 Operating space be defined as it is smaller than the scope that security fence 90 surrounds in the case of, can profit as effractor's detection device 93 With the light curtain surrounded around operating space or monitor the video camera of operating space or be paved with piezoelectric transducer in operating space Deng.
(Effractor's identification information acquisition device 94)
Effractor's identification information acquisition device 94, obtains whether the effractor that identification is invaded to the operating space of slave arm 1 is to take Effractor's identification information of operator with master device 20.Effractor's identification information acquisition device 94 of this embodiment utilizes RFID.The reader 942 for the information that RFID is kept by RF labels 941 and reading RF labels 941 is formed.
RF labels 941 are arranged on master device 20(Operation panel 2).Intrinsic id information is stored with RF labels 941.In addition, RF labels 941 are may replace, use the other information mediums for the data that built-in memory can be read and write by non-contact.
Reader 92 is arranged near light curtain 93A.The reader 942 can use electric wave(Electromagnetic wave), by it is non-contact and Read the data that the RF labels 941 set in the master device 20 for crossing light curtain 93A are kept.Reader 942 suppresses dress with action Putting 95 can be communicatedly with wired or wireless connection.The id information that reader 942 will be read from RF labels 941(Effractor identifies letter Breath)Exported to action restraining device 95.
(Act restraining device 95)
Act restraining device 95 based on from effractor's detection device 93 and effractor's identification information acquisition device 94 acquirement information, Suppress the action of slave arm 1 according to condition.It is so-called computer to act restraining device 95, have the arithmetic processing section such as CPU and The storage parts such as ROM, RAM(It is not shown).Alternatively, action restraining device 95 is by the arithmetic processing sections such as CPU and emergency stop circuit Form.Action restraining device 95 takes with control unit 6, connector 33, effractor's detection device 93 and effractor's identification information Obtaining device 94 can be communicatedly with wired or wireless connection.
Action restraining device 95 receives the effractor from effractor's detection device 93 and detects signal, detects in slave arm 1 operating space(For in security fence 90 in this embodiment)There is effractor.Invaded if action restraining device 95 has detected The person of entering, then act effractor's identification information acquisition device 94, and obtaining effractor from effractor's identification information acquisition device 94 knows Other information.Action restraining device 95 judges whether effractor is operator based on acquired effractor's identification information.
Here, action restraining device 95 reads id information in the success of reader 942 from RF labels 941(Effractor identifies letter Breath), and the id information and the slave arm 1 that prestores(Or the master device 20 of slave arm 1 can be operated)Id information it is consistent when, then It is the operator for carrying master device 20 to judge effractor.Also, action restraining device 95 is successful from RF labels in reader 942 941 read id informations, and the id information and the slave arm 1 that prestores(Or the master device 20 of slave arm 1 can be operated)ID letter When ceasing inconsistent, then beyond judging effractor for operator.Also, action restraining device 95 passes through the stipulated time in reader 942 During failed reading id information, then beyond judging effractor for operator.
Then, act restraining device 95 and ensuing processing is carried out according to condition.Secondly shown in table 1 according to each condition dynamic Make the ensuing processing that restraining device 95 is taken.In table 1, the title of row represents the control model of slave arm 1(Automatic mold Formula, manual mode, correct automatic mode), capable title represent to slave arm 1 operating space intrusion effractor(Operator, Beyond operator).
Table 1:
As shown in table 1, when slave arm 1 is automatic mode, no matter beyond effractor is operator or operator, press down The action of slave arm 1 processed.Connector 33 is set to become confession here, action restraining device 95 exports washout to connector 33 To blocking state.As a result, it is possible to stop the power supply from power supply 32 to motor control part 16, and slave arm 1 is set promptly to stop Only.In addition, as described above, though the action restraining device 95 of this embodiment realizes that the action of slave arm 1 presses down by emergent stopping System, but act the form suppressed and be not limited to this.The action of slave arm 1 suppresses also can be by the deceleration of action, the stopping of action (The speed acted is zero)And any of action restraining device 95 is pre-set in emergent stopping and is realized.Or Person, it is more that action restraining device 95 may be based on the control model of slave arm 1 or the condition information from the acquirement of situation acquisition device 5 etc. A information, automatically selects the form that action suppresses from above-mentioned multiple forms.The action of slave arm 1 is slowed down or making action In the case of stopping, action restraining device 95 is to control unit 6 so that the form output that the action of slave arm 1 stops or slows down refers to Order.
Also, when slave arm 1 is manual mode or corrects automatic mode, make slave arm 1 if effractor is operator Action continues, and suppresses the action of slave arm 1 if effractor is beyond operator.Here, action restraining device 95 suppress from During the action of swing arm 1, as described above, into the processing for exercising 1 emergent stopping of slave arm.Also, action restraining device 95 makes When the action of slave arm 1 continues, without processing, and continue the monitoring of the effractor to from the operating space to slave arm 1.Separately Outside, restraining device 95 is acted when continuing the action of slave arm 1, can also be by the mobile speed of the maximum of the hand taper of slave arm 1 Degree is limited in below safe speed(Such as below 250mm/s)Form will instruct and be assigned to control unit 6.
As mentioned above, the industry of this embodiment tele-manipulator system 100, possesses:Master device 20, its Receive the operation of operator;Slave arm 1, has multiple control models, and the plurality of control model is included based on the work prestored The automatic mode made program and acted and the operation of the operator received based on master device 20 and the manual mode acted;Control Unit 6(Control device), it makes slave arm 1 with a selected Modal action from multiple control models;Effractor detects Device 93, detects the effractor of the operating space to slave arm 1;Effractor's identification information acquisition device 94, it obtains identification and invades The person of entering whether be carry master device 20 operator effractor's identification information;With action restraining device 95, it is based on from intrusion The information that person's detection device 93 and effractor's identification information acquisition device 94 obtain, suppresses the action of slave arm 1.
Moreover, action restraining device 95, when slave arm 1 is automatic mode if it is detected that effractor then suppresses slave arm 1 Action, when slave arm 1 is manual mode if it is detected that effractor, the dynamic of slave arm 1 is made if effractor is operator Work continues, and suppresses the action of slave arm 1 if effractor is beyond operator.
In addition, in said system 100, multiple control models also comprising correcting automatic mode, the amendment automatic mode by The operation of the operator received by master device 20 and gradually correct and be based on working procedure and act.Moreover, action suppresses Device 95, when slave arm 1 is corrects automatic mode if it is detected that effractor, makes slave arm 1 if effractor is operator Action continue, suppress the action of slave arm 1 if effractor is beyond operator.
According to above-mentioned tele-manipulator system 100, even if the operator for carrying master device 20 invades the dynamic of slave arm 1 Make region, slave arm 1 also continues to act.So operator can operate master device 20 in the operating space of slave arm 1.Usually For, the operator for carrying master device 20 monitors the movement of slave arm 1 and operates master device 20, therefore can predict slave arm 1 Movement, also, can operate master device 20 avoids slave arm 1 and the collision of oneself.So, it can be ensured that carry the operation of master device 20 The security of person.
In addition, in above-mentioned tele-manipulator system 100, when slave arm 1 acts in automatic mode, no matter to driven Whom the effractor of the operating space of arm 1 is, suppresses the action of slave arm 1.Accordingly, it is capable to prevent slave arm 1 with to the active region The collision of the effractor in domain.
And then in above-mentioned tele-manipulator system 100, operator can correspond to the shape of job content or slave arm 1 Condition, from automatic mode, manual mode and the control model for correcting automatic mode selection slave arm 1.The selection of control model can be by The judgement of operator carries out.For example, fragile part, accurate chimeric, the correctly operation such as positioning or axis alignment are held, preferably For by can make the operation of operator be reflected in slave arm 1 movement manual mode or correct automatic mode and carry out.At this In the operation of sample, if for example, it is predictable make slave arm 1 occurred completely with auto-action it is undesirable in the case of, selection is repaiied Positive automatic mode.Automatic mode is being corrected, based on the automatic action of slave arm 1 and can pass through operator's Its action is corrected in operation, therefore compared with manual mode, the load of operator is smaller, and can suppress operating efficiency reduction.As this Sample, according to the system 100, by operator correspond to each operation select from multiple control models it is corresponding with situation suitably Control model, can realize non-stop robot system.
Also, above-mentioned industry, with tele-manipulator system 100, effractor's identification information acquisition device 94 is included and is arranged on The RF labels 941 of master device 20 and the information of reading RF labels 941 and the reader 942 exported to action restraining device 95.
By means of this, the operator for carrying master device 20 is sent without any special operation, effractor's identification information To action restraining device 95, and the processing of effractor is identified automatically by acting restraining device 95.
The preferable embodiment of the present invention is explained above, but above-mentioned is configured to such as following change like that.
For example, in above-mentioned embodiment, by the use of RFID as effractor's identification information acquisition device 94, but effractor identifies Information acquisition device 94 is not limited to this, also can be for example as shown in figure 4, effractor's identification information acquisition device 94 is by being located at main dress Put the 20 i.e. identification button 97 of operation panel 2 and send output master from operation panel 2 to action restraining device 95 when pressing the identification button The id information of device 20(Effractor's identification information)Identification information output device 98 form.Here, action restraining device 95 from Identification information output device 98 receives effractor's identification information, with the slave arm 1 prestored(Or the master of slave arm 1 can be operated Device 20)Id information compare, it is beyond operator or operator to judge effractor.
In above-mentioned variation, effractor's identification information acquisition device 94 includes the identification button 97 and operation arranged on master device 20 Identify the identification information output device 98 for exporting the identification information of master device 20 to action restraining device 95 during button 97.
As above-mentioned, effractor's identification information acquisition device 94 can be simple composition, also, operator will can invade consciously The person's of entering identification information is assigned to action restraining device 95.
Explanation more than, to those skilled in the art, many improvement of the invention or other embodiments Clearly.Therefore, described above, which only should be used as illustrating, explains, and it is an object of the present invention to provide those skilled in the art are taught with the implementation present invention Optimal morphology.Without departing from the spirit of the present invention, the details of its construction and/or function can substantially be changed.
Symbol description:
1 slave arm
2 operation panels
4 output devices
5 situation acquisition devices
6 control units
7 input units
8 storage devices
11a~11f connecting rods
15 base stations
16 motor control parts
20 master devices
27 control sticks
28 emergent stopping buttons
29 control mode switchs switch
41 display equipments
60 host computer control portions
61 driven control units
63 receiving divisions
64 output control parts
65 correction portions
90 security fences
93 effractor's detection devices
93A light curtains
94 effractor's identification information acquisition devices
941 RF labels
942 readers
95 action restraining devices
97 identification buttons
98 identification information output devices
100 tele-manipulator systems.

Claims (4)

1. a kind of tele-manipulator system, possesses:
Master device, receives the operation of operator;
Slave arm, has multiple control models, and the multiple control model is included and acted based on the working procedure prestored Automatic mode and the operator received based on the master device operation and the manual mode that acts;
Control device, with from the multiple control model a selected pattern act the slave arm;
Effractor's detection device, detects the effractor of the operating space to the slave arm;
Effractor's identification information acquisition device, obtains and identifies whether the effractor is the operator for carrying the master device Effractor's identification information;With
Restraining device is acted, based on the letter from effractor's detection device and effractor's identification information acquisition device acquirement Breath, suppresses the action of the slave arm;
The action restraining device, when the slave arm is the automatic mode if it is detected that effractor then suppresses described driven The action of arm, when the slave arm is the manual mode if it is detected that effractor, if the effractor is the operation Person then continues the action of the slave arm, suppresses the dynamic of the slave arm if the effractor is beyond the operator Make.
2. tele-manipulator system according to claim 1, it is characterised in that the multiple control model also includes Correct automatic mode, the operation of operator corrected automatic mode and received by the master device and it is gradually modified same When based on the working procedure act;
The action restraining device, the slave arm for the amendment automatic mode when if it is detected that effractor, if described Effractor then continues the action of the slave arm for the operator, presses down if the effractor is beyond the operator Make the action of the slave arm.
3. tele-manipulator system according to claim 1 or 2, it is characterised in that effractor's identification information Acquisition device include arranged on the master device RF labels and read the information of the RF labels and to the action restraining device The reader of output.
4. tele-manipulator system according to claim 1 or 2, it is characterised in that effractor's identification information Acquisition device includes arranged on the identification button of the master device and believes the identification of the master device when the identification button is operated Cease the identification information output device to the action restraining device output.
CN201680049058.2A 2015-08-25 2016-05-27 Industrial remote operation robot system Active CN107921624B (en)

Priority Applications (3)

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JP2015165479 2015-08-25
JP2015-165479 2015-08-25
PCT/JP2016/002576 WO2017033352A1 (en) 2015-08-25 2016-05-27 Industrial remote control robot system

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CN107921624B CN107921624B (en) 2021-06-11

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CN201680048742.9A Pending CN107921638A (en) 2015-08-25 2016-05-27 Mechanical arm system
CN201680048486.3A Pending CN107921636A (en) 2015-08-25 2016-05-27 Robot system
CN201680048747.1A Pending CN107921639A (en) 2015-08-25 2016-05-27 Information sharing system and information sharing method between multiple robot systems
CN201680049056.3A Pending CN107921642A (en) 2015-08-25 2016-05-27 Remote operation arm-and-hand system and its method of operation
CN201680048695.8A Active CN107921620B (en) 2015-08-25 2016-05-27 Remote operation robot system
CN201680047123.8A Active CN107921634B (en) 2015-08-25 2016-05-27 Robot system
CN201680048923.1A Pending CN107921645A (en) 2015-08-25 2016-05-27 Tele-manipulator system
CN201680048927.XA Pending CN107921640A (en) 2015-08-25 2016-05-27 Tele-manipulator system and its method of operation
CN201680048289.1A Pending CN107921635A (en) 2015-08-25 2016-05-27 Robot system
CN201680048711.3A Pending CN107921644A (en) 2015-08-25 2016-05-27 Tele-manipulator system
CN201680044158.6A Pending CN107848116A (en) 2015-08-25 2016-05-27 Tele-manipulator system
CN201680041092.5A Pending CN107848111A (en) 2015-08-25 2016-05-27 Remote operation arm-and-hand system and its method of operation
CN201680048942.4A Active CN107921646B (en) 2015-08-25 2016-05-27 Remote operation robot system
CN201680049044.0A Pending CN107921641A (en) 2015-08-25 2016-05-27 Robot system and its method of operation
CN201680049058.2A Active CN107921624B (en) 2015-08-25 2016-05-27 Industrial remote operation robot system
CN201680048659.1A Pending CN107921637A (en) 2015-08-25 2016-05-27 Robot system
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